CN111371322B - Boost type converter control method and system based on finite time convergence observer - Google Patents
Boost type converter control method and system based on finite time convergence observer Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
- H02M3/1582—Buck-boost converters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0038—Circuits or arrangements for suppressing, e.g. by masking incorrect turn-on or turn-off signals, e.g. due to current spikes in current mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0045—Converters combining the concepts of switch-mode regulation and linear regulation, e.g. linear pre-regulator to switching converter, linear and switching converter in parallel, same converter or same transistor operating either in linear or switching mode
Abstract
The invention discloses a Boost type converter control method and system based on a finite time convergence observer, belonging to the field of power electronics and control technology thereofThe field of operation. The invention comprises a finite time convergence observer module, a nonsingular terminal sliding mode controller module and a PWM module, and the design steps are as follows: selection of inductor current iLAnd an output voltage VoEstablishing Boost converter as state variable of system with respect to inductive current iLAnd an output voltage VoA differential equation of (2); designing a finite time convergence observer according to a differential equation and obtaining
Will be provided with
Combining with the traditional nonsingular terminal sliding mode control method, designing a new nonsingular terminal controller; and simultaneously inputting the output control quantity of the new controller and the sawtooth wave into a PWM module, and generating a PWM signal to drive and control a power device in the Boost converter. When the load resistance and the input voltage are suddenly changed, the output voltage can still be converged to the reference voltage within a limited time, and the dynamic, steady and anti-interference performance of the system is improved.
Description
Technical Field
The invention relates to the technical field of power electronics and control thereof, in particular to a Boost type converter control method and system based on a finite time convergence observer.
Background
The core of the DC-DC converter is a control algorithm, the main task of the control algorithm is to maintain the stability of the output voltage and counteract the parameterization uncertainty of the system, and the quality of the control algorithm directly determines the operation effect of the DC-DC converter. The traditional linear control strategy mainly comprises a voltage control strategy, a peak current control strategy and an average current control strategy. The voltage control strategy has slow dynamic response, so that the anti-interference performance is poor when disturbance such as load change occurs; the peak current control strategy (introducing the inductive current into the loop) has a faster response speed, but subharmonic oscillation occurs under the condition that the duty ratio exceeds 50%; the average current control strategy has a high-gain error amplifier, can realize accurate tracking control of current, has strong noise suppression capability, can suppress subharmonic oscillation by a current inner ring compensator, does not need slope compensation, but needs two error amplifiers in the average current control strategy, has complicated parameter setting and increases the complexity of the system to a great extent. In recent years, in order to obtain a DC-DC converter with higher performance, many experts and scholars propose new control techniques which respectively improve the performance of the DC-DC converter from different aspects, and the following briefly introduces these advanced control methods:
(1) adaptive control
In the design process of the controller of the DC-DC converter, the control problem of a system with uncertain model parameters can exist, so that an adaptive control algorithm is required. The self-adaptive control is to design a self-adaptive law to obtain an on-line estimation value of the uncertain quantity, and further counteract the influence of the uncertainty on the system performance. The method has the advantages that the parameterization uncertainty of the system can be completely counteracted, so that the steady-state error of the controlled system approaches to zero, and error-free tracking is realized; the limitation is that adaptive control is oriented to stable performance, and the influence on the dynamic performance is ignored, so the problems of overshoot and the like may occur in the output of the system.
(2) Sliding mode variable structure control
The sliding mode control belongs to robust control, is also one of nonlinear control strategies, and is a variable structure control strategy. The design of the sliding mode controller comprises two steps: first, designing a slip-form surface in the state space, which is generally a linear or non-linear combination of the desired states; secondly, a control law is designed to enable any initial state point to reach the sliding mode surface within a limited time, stay on the sliding mode surface and finally stabilize at a balance point of the system, namely stabilize at a position close to a system output expected value. The sliding mode control has the advantages that: the method has invariance and robustness on perturbation of internal parameters and external interference, is suitable for processing general disturbed systems and time-varying uncertain systems, and has strong robustness and adaptability. Sliding mode control is also limited, the most significant being the aforementioned buffeting phenomenon. It will not only affect the control accuracy to a great extent, but also wear the hardware circuit. This is an unavoidable disadvantage of sliding mode control, but there are some ways to reduce buffeting, including approximating the sign function with a saturation function, an arctangent function, and thereby further improving the dynamic performance of the system.
(3) Fuzzy control
Fuzzy control theory was first applied in the converter field. The traditional control method is based on the mathematical model of the controlled system to design the controller. However, due to the complex system and uncertain system parameters, accurate mathematical model building is difficult, and therefore, the fuzzy control method is produced. Fuzzy control does not need to establish a mathematical model of a controlled system, and directly expresses intuition and experience of a controller designer by using a language form. The main process of fuzzy control is divided into three parts: fuzzification, fuzzy rule reasoning and defuzzification. The advantage of fuzzy control is that it does not require an accurate mathematical model of the system, but relies primarily on the experience of the controller designer and is therefore well suited to non-linear systems such as dc switching converters. However, fuzzy control has some disadvantages, for example, the function selection of the controller has no specific basis, so that there is no systematic method for designing and analyzing the controller, and the integrity of the rule base cannot be guaranteed.
(4) Passivity control
Passivity control has become one of the important methods for designing control systems, and it originates from network theory and other physical branch disciplines. The method forces the total energy of the system to track an expected energy function by configuring reactive power in an energy dissipation equation of the system, and enables state variables of the system to gradually converge to a desired value. The passive method is utilized to design the controller, so that a complex control rule can be avoided, the design process is simple, the realization is easy, and the method is widely applied to the aspects of the stability of a nonlinear system and the design of a control system. In addition, the combination and application of passivity control methods with other advanced nonlinear methods has also received wide attention.
An improved precision feedback linearization sliding mode variable structure control system of a Boost converter is provided in journal of Chinese Motor engineering journal, at 31 st, 30 th and 16 th-22 th pages, a control method of a sliding mode variable structure of the Boost converter based on precision feedback linearization is researched, a sliding mode variable structure controller based on the Boost converter is designed by applying the method, and experimental analysis is carried out on the control system. The result shows that the improved Boost converter accurate feedback linearization sliding mode variable structure control algorithm is suitable for a Boost converter system and has strong practicability. But the disadvantages of this system are: although the control system has strong practicability, the control system is mainly improved by researching accurate feedback linearization nonlinear control, and uncertainty of parameters is not considered.
In journal, volume 49, phase 5, page 55-58 of "electric drive", a sliding mode control method of a DC-DC boost converter based on a state observer is proposed, according to a typical PWM-based average circuit model of the DC-DC boost converter, and according to a system control target, values of an input voltage and a load resistance are estimated in real time by using the state observer, and the estimated values are fed back to a controller; the adaptive sliding mode surface is designed by utilizing the estimated value, and a control law is obtained by combining an exponential approximation law, so that the output voltage of the converter can track the reference voltage, and the control method is verified to be reasonable and effective through simulation. However, the method has the following disadvantages: although the problems of slow dynamic response, poor steady-state performance and poor anti-interference performance to disturbance such as load change, input voltage change and the like of the traditional PI control strategy can be solved, the defects of the traditional linear sliding mode function are not further researched.
Disclosure of Invention
1. Problems to be solved
Aiming at the problems that the traditional sliding mode control method used in the existing Boost type converter is slow in dynamic response, poor in steady-state performance and poor in anti-interference performance when disturbance such as load change, input voltage change and the like occurs, the Boost type converter control method and system based on the finite time convergence observer are provided; on the basis of a traditional nonsingular terminal sliding mode control strategy, the invention adopts the finite time convergence observer module which can carry out finite time estimation on the load and the input voltage, and when the load resistance and the input voltage are mutated, the output voltage can still be converged to the reference voltage within finite time, thereby improving the dynamic and steady-state performance of the system.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention discloses a Boost type converter control method based on a finite time convergence observer, which comprises the following steps:
step one, selecting an inductive current iLAnd an output voltage VoAs a state variable of the system, deriving a differential equation of the Boost converter when the power device is switched on and off and an average state equation of the Boost converter in a continuous conduction mode based on kirchhoff voltage and current law to obtain a state variable related to the inductive current iLAnd an output voltage VoA differential equation of (2);
step two, according to the obtained inductive current iLAnd an output voltage VoDesigning a finite time convergence observer to obtain
Wherein R is a load resistance, theta is 1/R,
is the differential of the estimated value of theta,
for inputting a DC voltage VinA differential of the estimated value of (a);
step three, obtaining the result by a finite time convergence observer
Combined with the traditional nonsingular terminal sliding mode control method, a new nonsingular terminal sliding mode surface function S is designed1And nonsingular terminal sliding mode control law;
and step four, simultaneously inputting the output control quantity of the controller and the sawtooth wave into a PWM module to generate a PWM signal to drive and control a power device in the Boost converter.
The invention discloses a Boost type converter control system based on a finite time convergence observer, which comprises a finite time convergence observer module, a nonsingular terminal sliding mode controller module and a PWM (pulse width modulation) module, wherein the three modules are connected in series, and the finite time convergence observer module carries out finite time estimation on a load and an input voltage to obtain a result
And combining the control signal with the traditional nonsingular terminal sliding mode control method to design a new nonsingular terminal sliding mode controller module, and finally inputting the output control quantity and the sawtooth wave of the nonsingular terminal sliding mode controller module into the PWM module to generate a PWM signal.
3. Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention relates to a Boost type converter control method based on a finite time convergence observer, which is based on a model of a Boost converter, takes inductive current and capacitance voltage of a system as state variables, and depends on a time averaging technology to convert a time-varying nonlinear switching circuit into an equivalent time-invariant linear continuous circuit and build a universal system state space average model, so that the control method has stronger practicability.
(2) The Boost type converter control method based on the finite time convergence observer combines the finite time convergence observer module and the sliding mode variable structure control technology, the designed control system has strong robustness, the strong dependence of the traditional linearization control method on a system mathematical model is eliminated, a theoretical approach is provided for the engineering application of an advanced control method, the control law is simple, and the method has engineering practical value.
(3) The finite time convergence observer is combined with a composite control strategy of a sliding mode variable structure, and can be popularized to other more complex power electronic systems, such as PFC (power factor correction), APF (active power filter) and motor control, so that a certain reference function is provided for the design of a controller of a power electronic converter.
(4) According to the Boost type converter control system based on the finite time convergence observer, the finite time convergence observer module, the nonsingular terminal sliding mode controller module and the PWM module are used in series, the finite time convergence observer module capable of carrying out finite time estimation on the load and the input voltage is adopted on the basis of the traditional nonsingular terminal sliding mode control method, when the load resistance and the input voltage are subjected to sudden change, the output voltage can still be converged to the reference voltage within finite time, and therefore the problems that the dynamic response is slow, the steady-state performance is poor and the anti-interference performance is poor when disturbance such as load change, input voltage change and the like occurs in the traditional sliding mode control method are solved.
Drawings
FIG. 1 is a circuit diagram of a Boost converter;
fig. 2 is a control structure diagram of the Boost converter of the present invention;
FIG. 3 is a waveform diagram comparing output voltages when input voltages are varied according to the present invention and the conventional method;
FIG. 4 is a waveform diagram comparing output voltages when load resistance changes under the control of the present invention and the conventional method;
FIG. 5 is a waveform diagram comparing output voltages when the reference voltage is varied according to the present invention and the conventional method.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1
According to the control method and system of the Boost type converter based on the finite time convergence observer, a novel control system is designed on the basis of a Boost circuit, and comprises a finite time convergence observer module, a nonsingular terminal sliding mode controller module and a PWM (pulse width modulation) module, the three modules are used in series and are designed comprehensively, and coordinated operation among the modules is guaranteed. The design method is a new method proposed on the basis of the traditional nonsingular terminal sliding mode control research, and the control method principle and the implementation of the embodiment are specifically described as follows:
step one, establishing a mathematical model of a Boost converter
With reference to FIG. 1, wherein VinFor input of DC voltage, VT is a controllable power device, VoD is a freewheeling diode, L is a filter inductor, C is a filter capacitor, R is a load resistor, and theta is 1/R, iLIs the inductor current. The method comprises the steps of selecting an inductive current i by analyzing the on-off conditions of a power device in a Boost converterLAnd an output voltage VoAs a state variable of the system, differential equations of a Boost converter when a power device is switched on and off can be deduced based on kirchhoff voltage and current laws, wherein the differential equations are respectively as follows:
it can be derived that in continuous conduction mode, the average state equation of the Boost converter is as follows:
where μ is the control input, i.e. the duty cycle of the power device, and μ e [0, 1] is satisfied.
The present embodiment uses the inductive current i of the systemLCapacitor voltage (i.e. output voltage V)o) For the state variable, a time-varying nonlinear switching circuit is converted into an equivalent time-invariant linear continuous circuit by means of a time averaging technology, and a general system state space average model is built, so that the control method is higher in practicability.
Step two, design of finite time convergence observer
In connection with fig. 2, consider that in a practical system, BoThe negative influence of the load resistance and the input voltage change in the ost circuit on the constant voltage output performance of the system provides a finite time convergence observer, realizes the real-time estimation of unknown parameters, and is based on the obtained inductive current iLAnd an output voltage VoThe finite time convergence observer shown below is designed to obtain
Wherein, VrefIs the output voltage of the circuit given a reference value,
are each Vo,iL,θ,VinIs determined by the estimated value of (c),
are respectively as
Differential of (a), k1,k2,k3,k4Is estimator gain and satisfies k1>0,k2>0,k3>0,k4>0，0.5<α1,α2<1,α3＝2α1-1,α4＝2α2-1。
Step three, designing a nonsingular terminal sliding mode controller based on a finite time convergence observer
To be derived by a finite time convergence observer
Combined with the traditional nonsingular terminal sliding mode control method, a new nonsingular terminal sliding mode surface function S is designed1And a nonsingular terminal sliding mode control law.
(1) Traditional nonsingular terminal sliding mode control law design
Considering the non-minimum phase characteristic of a Boost converter and two energy storage elements of an inductor and a capacitor, designing a non-singular terminal sliding mode surface function S by adopting a method for constructing an energy storage function and selecting an exponential approach law to design a corresponding non-singular terminal sliding mode control law;
constructed energy storage function
The expression is as follows:
in conjunction with equation (1), the system dynamic equation for this state can be obtained as:
wherein the content of the first and second substances,
as a function of stored energy
The differential of (a) is determined,
is composed of
Differential of (V)refIs a reference value of the output voltage, iLrefFor the reference value of the inductive current, the equilibrium point of the state equation is solved, and the reference value of the inductive current in a steady state satisfies the following relation:
therefore, the energy storage function of the Boost converter and the differential reference value thereof are respectively as follows:
when the system is in steady state, then there are:
in addition, the reason is that:
so that i can be deducedLWill track iLref，VoWill track Vref。
Respectively order e1,e2The error value of the energy storage function and the error differential value of the energy storage function are as follows:
by taking the derivative of equation (11) and substituting equation (3), we can obtain:
the corresponding nonsingular terminal sliding mode surface function is designed as follows:
wherein the content of the first and second substances,
and the design parameters p and q are both positive odd numbers, beta>0, is a design parameter;
the nonsingular terminal sliding mode surface function S is derived, and a formula (9) is substituted to obtain:
in addition, in order to ensure that the system can trend to a sliding mode surface from any state within a limited time, an exponential approximation law can be selected to design a sliding mode control law, wherein the selected exponential approximation law is as follows:
wherein, the parameter to be designed, eta > 0.
The nonsingular terminal sliding mode control law obtained by the simultaneous formula (14) and the formula (15) is as follows:
(2) novel nonsingular terminal sliding mode control law design
Considering that influence on output voltage caused by changes of uncertain factors of systems such as load resistance and input voltage is ignored in the traditional nonsingular terminal sliding mode control law design process, the embodiment combines
And a new nonsingular terminal sliding mode surface function and a nonsingular terminal sliding mode control law are designed by the traditional nonsingular terminal sliding mode control method, so that the rapidity and the accuracy of tracking the given voltage of the system are realized.
Considering energy storage error system of Boost converter, and combining formula (13), new nonsingular terminal sliding mode surface function S1The design is as follows:
wherein the parameter beta to be designed1>0, p and q are positive odd numbers and satisfy 1<p/q<2，
Is e1,e2The specific expression of the estimated value of (c) is as follows:
at this time, for the Boost system, the new nonsingular terminal sliding mode control law expression is as follows:
step four, driving
And simultaneously inputting the output control quantity of the new nonsingular terminal sliding mode controller and the sawtooth wave into a PWM module, and generating a PWM signal to drive and control a power device in a Boost converter.
The design process of the Boost type converter controller based on the finite time convergence observer of the embodiment is subjected to simulation verification through a Matlab/Simulink simulation platform. In a simulation experiment, waveforms under a traditional sliding mode control method (SMC) and a novel nonsingular terminal sliding mode control method (NTSMC + FCO) are compared.
Through simulation, the output voltage waveform under the conventional sliding mode control method and the output voltage waveform under the control method adopted in the present embodiment under the condition that the input voltage has disturbance are obtained, see fig. 3. Compared with the conventional sliding mode control method, the control method adopted by the embodiment has the advantages that the variation amplitude of the output voltage is small, the output voltage can be converged to a desired value quickly, and the system has better dynamic performance.
As can be seen from fig. 4, in the case that the reference voltage has disturbance, compared with the conventional sliding mode control, when the reference voltage reaches the steady state again, the control method adopted in this embodiment enables the system to obtain a faster dynamic response speed, and has a better anti-interference capability. As can be seen from fig. 5, in the case of disturbance of the load resistance, compared with the conventional sliding mode control, when the steady state is reached again, the convergence rate of the novel nonsingular terminal sliding mode control method adopted in this embodiment is significantly faster, and the overshoot is smaller, so that the system has faster convergence and stronger load change resistance.
Compared with the traditional sliding mode control method, the embodiment adopts the finite time convergence observer module capable of estimating the finite time of the load and the input voltage on the basis of the traditional nonsingular terminal sliding mode control method, and when the load resistance and the input voltage are suddenly changed, the output voltage can still converge to the reference voltage within the finite time, so that the problems of slow dynamic response, poor steady-state performance and poor anti-interference performance when disturbance such as load change, input voltage change and the like occurs in the traditional sliding mode control method are solved, and the dynamic and steady-state performance of the system is improved.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (5)
1. A Boost type converter control method based on a finite time convergence observer is characterized by comprising the following steps:
step one, selecting an inductive current iLAnd an output voltage VoAs a state variable of the system, deriving a differential equation of the Boost converter when the power device is switched on and off and an average state equation of the Boost converter in a continuous conduction mode based on kirchhoff voltage and current law to obtain a state variable related to the inductive current iLAnd an output voltage VoA differential equation of (2);
step two, according to the obtained inductive current iLAnd an output voltage VoThe differential equation of (A) designs a finite time convergence observer and obtains
Wherein, theta is 1/R, R is a load resistor,
is the differential of the estimated value of theta,
for inputting a DC voltage VinA differential of the estimated value of (a);
the finite time convergence observer was designed as follows:
wherein the content of the first and second substances,
are each Vo,iL,θ,VinIs determined by the estimated value of (c),
are respectively as
Differential of (a), k1,k2,k3,k4Is estimator gain and satisfies k1>0,k2>0,k3>0,k4>0，0.5<α1,α2<1,α3＝2α1-1,α4＝2α2-1；
Step three, obtaining the result by a finite time convergence observer
Compared with the traditional nonsingular terminal sliding mode controlCombining the methods, and designing a new nonsingular terminal sliding mode surface function and a nonsingular terminal sliding mode control law;
and step four, simultaneously inputting the output control quantity of the new nonsingular terminal sliding mode controller and the sawtooth wave into a PWM module, and generating a PWM signal to drive and control a power device in the Boost converter.
2. The Boost type converter control method based on the finite time convergence observer as claimed in claim 1, wherein: in the first step, a differential equation of the Boost converter when the power device is switched on and off is as follows:
wherein, VinThe direct current voltage is input, L is a filter inductor, C is a filter capacitor, theta is 1/R, and R is a load resistor;
in the continuous conduction mode, the average state equation of the Boost converter is as follows:
wherein mu is the duty ratio of the power device and satisfies mu epsilon [0, 1 ].
3. The Boost type converter control method based on the finite time convergence observer according to claim 2, wherein the traditional nonsingular terminal sliding mode surface function and the nonsingular terminal sliding mode control law in the third step are designed as follows:
constructed energy storage function
The system dynamic equation for that state can be derived:
wherein the content of the first and second substances,
as a function of stored energy
The differential of (a) is determined,
is composed of
Differential of (V)refIs a reference value of the output voltage, iLrefFor the reference value of the inductive current, the equilibrium point of the state equation is solved, and the reference value of the inductive current in a steady state satisfies the following relation:
therefore, the energy storage function of the Boost converter and the differential reference value thereof are respectively as follows:
when the system is in steady state, then there are:
in addition, the reason is that:
so that i can be deducedLWill track iLref，VoWill track Vref；
Respectively order e1,e2The error value of the energy storage function and the error differential value of the energy storage function are as follows:
by deriving equation (11), we can obtain:
the corresponding nonsingular terminal sliding mode surface function is designed as follows:
wherein the content of the first and second substances,
and the design parameters p and q are both positive odd numbers, beta>0, is a design parameter;
and (3) carrying out derivation on the sliding mode surface function S to obtain:
selecting an exponential approximation law to design a sliding mode control law, wherein the selected exponential approximation law is as follows:
wherein, the parameter to be designed, eta is greater than 0;
the nonsingular terminal sliding mode control law obtained by the simultaneous formula (14) and the formula (15) is as follows:
4. the method for controlling the Boost type converter based on the finite time convergence observer according to claim 3, wherein in the third step, the finite time convergence observer based new nonsingular terminal sliding mode surface function and nonsingular terminal sliding mode control law are designed as follows:
novel nonsingular terminal sliding mode surface function S1The design is as follows:
wherein the parameter beta to be designed1>0, p and q are positive odd numbers and satisfy 1<p/q<2，
Is e1,e2The specific expression of the estimated value of (c) is as follows:
at this time, for the Boost system, the new nonsingular terminal sliding mode control law expression is as follows:
5. a Boost type converter control system based on a finite time convergence observer using the control method according to any one of claims 1 to 4, characterized in that: the system comprises a finite time convergence observer module, a nonsingular terminal sliding mode controller module and a PWM (pulse width modulation) module, wherein the three modules are connected in series, and the finite time convergence observer module carries out finite time estimation on a load and an input voltage to obtain a result
And combining the control signal with the traditional nonsingular terminal sliding mode control method to design a new nonsingular terminal sliding mode controller module, and finally inputting the output control quantity and the sawtooth wave of the nonsingular terminal sliding mode controller module into the PWM module to generate a PWM signal.
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